CN104298195A - Wireless communication networking method of multiple-shuttle cooperative work system - Google Patents
Wireless communication networking method of multiple-shuttle cooperative work system Download PDFInfo
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- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
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Abstract
The invention discloses a wireless communication networking method of a multiple-shuttle cooperative work system. The wireless communication networking method of the multiple-shuttle cooperative work system is reliable and efficient in shuttle scheduling, strong in anti-interference performance and stable in communication. The multiple-shuttle cooperative work system comprises an upper computer, multiple shuttles, lower computers arranged on the corresponding shuttles and used for controlling the shuttles to run, an upper data transfer radio connected with the upper computer and used for wireless data communication, and lower data transfer radios mounted on the corresponding shuttles, connected with the lower computers on the corresponding shuttles and used for wireless data communication. The upper computer is in data communication with each shuttle in sequence in a time slice polling mode in order to control and monitor the multiple shuttles; the length of time slices is automatically determined in an optimum time slice adaptive algorithm; the lower computers respond to the wireless data communication in an interrupt mode.
Description
Technical field
The present invention relates to automation logistic warehousing and storaging technical field, especially relate to a kind of method for wireless communication networking of multiple stage shuttle cooperative operation system.
Background technology
In Modern Logistics Technology, automatic stereowarehouse can improve storage density greatly, because the goods on tray in tiered warehouse facility weighs hundreds of kilograms sometimes, goods access must rely on automated machine equipment to complete, and warehouse access arrangement determines the storage density in warehouse, throughput speed and automatization level.The access arrangement of current use mainly comprises lane stacker and track shuttle, lane stacker needs to configure special traveling tunnel on inventory storage shelves side, and the piler access goods on each traveling tunnel is limited, and can steering-type shuttle without the need to arranging independent traveling tunnel shelf are other, can storage density be increased substantially, become tiered warehouse facility automatic access equipment development direction of new generation gradually.
Shuttle assume responsibility for the work of goods handling in automatic stereowarehouse.But can not arrange independent traveling tunnel by steering-type shuttle, multiple stage shuttle must share public traveling tunnel.Therefore, how shuttle is dispatched, and how to access goods, then need host computer to carry out Long-distance Control, this has just caused the communication requirement of host computer and multiple stage shuttle.Due to free shuttling in the three dimensions of tiered warehouse facility can be needed by steering-type shuttle, communication can only be adopted to carry out data transmission.Under communication, how host computer communicates with multiple stage shuttle, the radio communication how any shuttle gets rid of host computer and other shuttle is disturbed, and reaches best communication reliability and high-level efficiency, the communication technology problem that must solve exactly.
Summary of the invention
Instant invention overcomes shortcoming of the prior art, provide the scheduling of a kind of shuttle reliable efficient, antijamming capability is strong, the method for wireless communication networking of the multiple stage shuttle cooperative operation system communicating stable.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions: a kind of method for wireless communication networking of multiple stage shuttle cooperative operation system, this multiple stage shuttle cooperative operation system comprise host computer, multiple stage shuttle, be arranged on every platform shuttle for control next bit computer that shuttle runs, one to be connected with host computer for wireless data communications upper data radio station and be loaded into the next data radio station every platform shuttle is connected with the next bit computer on shuttle for wireless data communications respectively;
Host computer adopts timeslice polling mode to carry out data communication with every platform shuttle successively, realizes the control to multiple stage shuttle and monitoring; When timeslice arrives any shuttle in turn, first data transmission is carried out by host computer to shuttle, shuttle receives time delay a period of time after data, data transmission is carried out again from shuttle to host computer, each shuttle is traveled through according to this operating process, reciprocation cycle successively, completes the poll to multiple stage shuttle;
The length of timeslice adopts optimal time sheet adaptive algorithm automatically to determine; What timeslice described is the length distributing to an equipment time, and timeslice is less than communication elapsed time, causes communication data conflict; Timeslice is greater than communication elapsed time, causes time waste; Communication elapsed time is suitable with timeslice, reaches timeslice optimum; Timeslice adaptive algorithm can increase timeslice automatically when timeslice is too short, automatically reduces timeslice when timeslice is long, final from seeking optimal time sheet;
Next bit computer adopts interrupt mode response wireless data communications; The detailed process of shuttle responding communication data is: for any shuttle, if when its next data radio station carried receives the byte of some, just trigger the interrupt event of next bit computer, next bit computer enters interruption, receive and after resolving communication data, carry out the identification of timeslice ownership; If timeslice to one's name, then send feedback data to host computer; If timeslice not to one's name, then jumps out interruption at once.
Preferably, described optimal time sheet adaptive algorithm is specially:
When initial time sheet is greater than optimal time sheet: start up system → continuous several times does not detect communication contention aware → reduce continuously timeslice until there is communication contention aware first) → detect that communication contention aware increases timeslice → reach optimal time sheet first;
When initial time sheet equals optimal time sheet: start up system → continuous several times communication contention aware → continuously reduce timeslice do not detected until occur first communication contention aware → detect first communication contention aware increase timeslice → again reach optimal time sheet;
When initial time sheet is less than optimal time sheet: start up system → detect communication contention aware → increase timeslice is not continuously until communication contention aware → reach optimal time sheet detected first.
Preferably, the judgement of timeslice communication contention aware is obtained by the analysis of the next equipment return data string, be specially two kinds of situations: one is at any time in sheet, receive and after rejecting the correct protocol frame parsed, the remaining incomplete data string starting with frame head code or terminate with postamble code; And for the conflict that same secondary data string is truncated, an incomplete data string starting with frame head code and terminate with postamble code can be produced simultaneously, if these two incomplete data strings can merge into a complete protocol frame, be then judged as communication contention aware; Two is receive in the timeslice distributing to certain the next equipment and parse the correct protocol frame of other the next equipment passback, be then judged as communication contention aware.
Preferably, the judgement of timeslice waste obtains by whether there is communication contention aware, is specially: if produce communication contention aware at once after attempting reducing its timeslice, and non-time of origin sheet waste, automatically restores to optimal time sheet; If communication contention aware do not detected after trial reduces timeslice, be then judged to be that life period is wasted.
Preferably, host computer and the data transmission procedure of shuttle in its timeslice are: host computer is to this shuttle transmitting time sheet distribution instruction or other action command; If what this shuttle received is timeslice distribution instruction, means that the opportunity that this shuttle carries out communicating to host computer arrives, then push out the Frame existed in transmit queue to shuttle; If what this shuttle received is certain action command, means that the opportunity that this shuttle carries out communicating to host computer arrives equally, not only will push out to shuttle the Frame existed in transmit queue, then also will perform the action command received.
Preferably, the Frame existed in shuttle transmit queue comprises action and completes information, shuttle state, operational parameter value, shuttle in time stored in transmit queue, can send to host computer when generating these information at any time when timeslice takes turns to oneself again.
Preferably, the process that shuttle identification receives data is, in the software of shuttle next bit computer, the device id defined according to communication protocol number identifies and completes the screening to receiving data by wireless communication data parsing module, only leaves the data sending to oneself.
Compared with prior art, tool of the present invention has the following advantages:
(1) half-duplex data radio station is used to complete wireless communication network.Half-duplex data radio station has the features such as cost is low, signal transmission distance length, good stability, by rational Technical Design, reaches the effect realizing the two-way communication of many equipment with low cost.
(2) designer can free by optimal time sheet adaptive algorithm from the undue experimentation work determining optimal time sheet, and the mechanism of its dynamic self-adapting also ensure that to be found and adjusts to the accuracy of optimal time sheet, high efficiency and real-time.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is timeslice poll process flow diagram of the present invention.
Fig. 3 is optimal time sheet concept map of the present invention.
Fig. 4 is optimal time sheet adaptive algorithm process flow diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not paying the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The method for wireless communication networking of the shuttle of multiple stage shown in Fig. 1 cooperative operation system, this multiple stage shuttle cooperative operation system comprise host computer 1, multiple stage shuttle 4, be arranged on every platform shuttle 4 for control next bit computer (not shown) that shuttle runs, one to be connected with host computer 1 for wireless data communications upper data radio station 2 and be loaded into the next data radio station 3 every platform shuttle 4 is connected with the next bit computer on shuttle 4 for wireless data communications respectively;
Host computer adopts timeslice polling mode to carry out data communication with every platform shuttle successively, realizes the control to multiple stage shuttle and monitoring; When timeslice arrives any shuttle in turn, first data transmission is carried out by host computer to shuttle, shuttle receives time delay a period of time after data, data transmission is carried out again from shuttle to host computer, each shuttle is traveled through according to this operating process, reciprocation cycle successively, completes the poll to multiple stage shuttle;
The length of timeslice adopts optimal time sheet adaptive algorithm automatically to determine; What timeslice described is the length distributing to an equipment time, and timeslice is less than communication elapsed time, causes communication data conflict; Timeslice is greater than communication elapsed time, causes time waste; Communication elapsed time is suitable with timeslice, reaches timeslice optimum; Timeslice adaptive algorithm can increase timeslice automatically when timeslice is too short, automatically reduces timeslice when timeslice is long, final from seeking optimal time sheet;
Next bit computer adopts interrupt mode response wireless data communications; The detailed process of shuttle responding communication data is: for any shuttle, if when its next data radio station carried receives the byte of some, just trigger the interrupt event of next bit computer, next bit computer enters interruption, receive and after resolving communication data, carry out the identification of timeslice ownership; If timeslice to one's name, then send feedback data to host computer; If timeslice not to one's name, then jumps out interruption at once.
Wherein, the concept of timeslice and optimal time sheet is as follows:
What timeslice described is the length distributing to an equipment time, as in Fig. 2 the timeslice t that indicates.If timeslice is too short, then distinct device and the transmission of host computer communication data can be caused to produce in time and to overlap and communication contention aware occurs; If timeslice is long, the increase of polling cycle can be caused again and reduce host computer and the mutual real-time of shuttle.Therefore, how to find one as far as possible short and don't that communication contention aware between distinct device occurs timeslice just become service time sheet polling mode to carry out the key of wireless communication network, and the timeslice possessing this feature is just called optimal time sheet.
The concept map of optimal time sheet as shown in Figure 3.In Fig. 3-a, timeslice is less than communication elapsed time, at the end of No. 1 shuttle communication not yet, therefore start again the Wireless Data Transmission of No. 2 shuttles, causes communication data conflict; In Fig. 3-c, timeslice is greater than communication elapsed time, although not there is communication contention aware, wastes the time, can not reach best real-time.In Fig. 3-b, communication elapsed time is suitable with timeslice, communication contention aware had not both occurred and has not also lost time, and reached timeslice optimum.
Wherein, time timeslice polling mode is as shown in Figure 2:
Under the control of host computer polling mechanism, distribute timeslice to each shuttle successively, each shuttle completes bidirectional data transfers with host computer in respective timeslice.Because the data radio station used is half-duplex mode of operation, for n shuttle, the data transmission procedure in its timeslice is: host computer is to n shuttle transmitting time sheet distribution instruction or other action command.If what n shuttle received is timeslice distribution instruction, means that the opportunity that n shuttle carries out communicating to host computer arrives, then push out the Frame existed in transmit queue to shuttle; If what n shuttle received is certain action command, means that the opportunity that n shuttle carries out communicating to host computer arrives equally, not only will push out to shuttle the Frame existed in transmit queue, then also will perform the action command received.The Frame existed in shuttle transmit queue comprises action and completes information, shuttle state, operational parameter value, in time stored in transmit queue, can send when timeslice takes turns to oneself to host computer when shuttle generates these information at any time again.In timeslice t, complete host computer and the two-way data of n shuttle are transmitted, after timeslice t terminates, then enter the timeslice t of next identical length, the two-way data of carrying out host computer and next shuttle are transmitted, circulate successively, form the timeslice polling mechanism of multiple stage shuttle communication.
Because data radio station adopts broadcast mode to other data radio station transmission data, when therefore any data radio station sends data, other data radio station can receive data.For any shuttle, need to identify the data sending to oneself, filter other data.In the software of the next computer for controlling of shuttle, the device id defined according to communication protocol number identifies and completes the screening to receiving data by wireless communication data parsing module, only leaves the data sending to oneself.
Wherein, the detailed process of shuttle responding communication data is as follows:
The detailed process of shuttle responding communication data is: for any shuttle, if when its data radio station carried receives the byte of some, just trigger the interrupt event of the next computer for controlling, the next computer for controlling enters interruption, receive and after resolving communication data, carry out the identification of timeslice ownership.If timeslice to one's name, then send feedback data (comprising the information such as shuttle state, execution) to host computer; If timeslice not to one's name, then jumps out interruption at once.
Wherein, the automatic testing method of communication contention aware judgement is as follows:
Communication contention aware refers to for any next bit computer, transmits in not one's own timeslice with host computer generation data, thus the hidden danger that the time of causing on communicating with miscellaneous equipment of burying overlaps.In shuttle wireless communication system, by detecting the situation of shuttle back information in the timeslice belonging to distinct device, communication contention aware can be detected.Use the fixed length protocol frame with fixing frame head and postamble to carry data between shuttle and host computer, under normal circumstances, many protocol frames complete serial data of formation one that can join end to end transmits.By great many of experiments and data analysis, communication contention aware has following several situation:
A, when timeslice small size too small time, the serial data A that n-th next bit computer (shuttle) returns is truncated as A1, A2 two parts, and wherein A1 part receives in the timeslice of n-th, and A2 part then receives in the timeslice of (n+1)th equipment;
B, when timeslice is significantly too small, the serial data A that n-th next bit computer (shuttle) returns does not receive completely in the timeslice of n-th next bit computer, and in the timeslice of (n+1)th equipment, have received complete serial data A;
C, when timeslice is extremely too small, the serial data A that n-th next bit computer (shuttle) returns is truncated as A1, A2 two parts in the n-th+a and the n-th+a+1 (a >=1) individual timeslice, or in the n-th+b(b >=2) receive complete serial data A in individual timeslice.
So the detection of communication contention aware can be summarized as two kinds of situations:
In a, at any time sheet, to receive and after rejecting the correct protocol frame parsed, the remaining incomplete data string starting with frame head code or terminate with postamble code.And for the conflict that same secondary data string is truncated, an incomplete data string starting with frame head code and terminate with postamble code can be produced simultaneously, if these two incomplete data strings can merge into a complete protocol frame, that illustrates that there occurs protocol frame blocks phenomenon.Serial data if any next bit computer is uploaded:
[frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××× ×× check code postamble code]
In upper routine serial data, have the protocol frame that 4 frames are correct, ××× ×× represents some numeric data codes of fixed length, supposes that the 4th frame protocol is truncated because timeslice is too small, then produce:
A1[frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××× ×× check code postamble code frame head decoding apparatus code ××]
A2[××× check code postamble code]
Two serial datas be truncated, for serial data A1, after rejecting 3 the correct protocol frames parsed, remaining runt fragment [frame head decoding apparatus code ××], and for serial data A2, after the correct protocol frame that rejecting parses (owing to there is not correct protocol frame in serial data A2, being equivalent to the part will do not rejected), remaining runt fragment [××× check code postamble code].
Two sections of runts, after merging, are a complete frame protocol after testing, can judge that correct protocol frame is truncated, there occurs communication contention aware.
B, receive in the timeslice distributing to certain next bit computer and parse other next bit computer passback correct protocol frame.As in the timeslice of No. 2 shuttles, although parse correct protocol frame, find that its device code is No. 1 shuttle, can judge communication contention aware occurs.
Wherein, the automatic testing method of time waste judgement is as follows:
By the analysis to next bit computer return data string, the automatic detection scheme of communication contention aware can be obtained.But, for the time waste shown in Fig. 3-c, then have no idea to be judged by the situation of next bit computer return data string again, as long as because communication not conflict, so no matter whether generation time is wasted, and the serial data of next bit computer passback is all complete, correctly received and parsing.
Suppose that initial time sheet is less than the time loss of a communication interaction between next bit computer and host computer, so detect after automatic increase timeslice through communication contention aware, understand progressively close and reach optimal time sheet (in fact can slightly exceed optimal time sheet in the scope increasing step-length), and after reaching optimal time sheet, communication contention aware can not be there is again in theory, namely optimal time sheet will stably continue, until accidental accident or coincidence cause the erroneous judgement of communication contention aware thus again increase timeslice.Suppose that initial time sheet is greater than the time loss of a communication interaction between next bit computer and host computer, communication contention aware would not occur so from the beginning, initial timeslice will stably continue.
Therefore, when not detecting communication contention aware for a long time, the state of timeslice has two kinds of situations: one is just reach optimal time sheet (in fact can slightly exceed optimal time sheet in the scope increasing step-length), two have been above optimal time sheet, and only have the second situation life period to waste.For the first situation, if attempt reducing its timeslice, then can produce communication contention aware at once thus automatically restore to optimal time sheet, and for the second situation, if attempt reducing its timeslice, the action increasing timeslice can not be triggered, so system works on the timeslice after reduction when not being less than optimal time sheet.Therefore, if communication contention aware do not detected after trial reduces timeslice, be then judged to be that life period is wasted.So, the method that is eliminated time waste can be obtained: attempt reducing timeslice.
Wherein, optimal time sheet adaptive algorithm is as follows:
As shown in Figure 4, according to the imagination of self-adaptative adjustment, when different initial time sheets, the Changing Pattern of timeslice should be as follows:
When initial time sheet is greater than optimal time sheet: start up system → continuous several times does not detect communication contention aware (as: being set to 10 times) → continuously reduce timeslice until there is communication contention aware (needing repeatedly to reduce just to conflict) → the detect timeslice of communication contention aware increase first → reach optimal time sheet first.
When initial time sheet equals optimal time sheet: start up system → continuous several times communication contention aware (as: being set to 10 times) → continuously reduce timeslice do not detected until occur first communication contention aware (only once need reduce just conflict) → detect first communication contention aware increase timeslice → again reach optimal time sheet.
When initial time sheet is less than optimal time sheet: start up system → detect communication contention aware → increase timeslice is not continuously until communication contention aware → reach optimal time sheet detected first.
Through actual test, after reaching optimal time sheet, the frequency that generation accidentalia causes communication contention aware to be judged by accident is about 30 minutes once, so the cycle again attempting reducing timeslice after timeslice being stablized is decided to be 30 minutes.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a method for wireless communication networking for multiple stage shuttle cooperative operation system, is characterized in that: multiple stage shuttle cooperative operation system comprise host computer, multiple stage shuttle, be arranged on every platform shuttle for control next bit computer that shuttle runs, one to be connected with host computer for wireless data communications upper data radio station and be loaded into the next data radio station every platform shuttle is connected with the next bit computer on shuttle for wireless data communications respectively;
Host computer adopts timeslice polling mode to carry out data communication with every platform shuttle successively, realizes the control to multiple stage shuttle and monitoring; When timeslice arrives any shuttle in turn, first data transmission is carried out by host computer to shuttle, shuttle receives time delay a period of time after data, data transmission is carried out again from shuttle to host computer, each shuttle is traveled through according to this operating process, reciprocation cycle successively, completes the poll to multiple stage shuttle;
The length of timeslice adopts optimal time sheet adaptive algorithm automatically to determine; What timeslice described is the length distributing to an equipment time, and timeslice is less than communication elapsed time, causes communication data conflict; Timeslice is greater than communication elapsed time, causes time waste; Communication elapsed time is suitable with timeslice, reaches timeslice optimum; Timeslice adaptive algorithm can increase timeslice automatically when timeslice is too short, automatically reduces timeslice when timeslice is long, final from seeking optimal time sheet;
Next bit computer adopts interrupt mode response wireless data communications; The detailed process of shuttle responding communication data is: for any shuttle, if when its next data radio station carried receives the byte of some, just trigger the interrupt event of next bit computer, next bit computer enters interruption, receive and after resolving communication data, carry out the identification of timeslice ownership; If timeslice to one's name, then send feedback data to host computer; If timeslice not to one's name, then jumps out interruption at once.
2. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 1, is characterized in that: described optimal time sheet adaptive algorithm is specially:
When initial time sheet is greater than optimal time sheet: start up system → continuous several times does not detect communication contention aware → reduce continuously timeslice until there is communication contention aware first) → detect that communication contention aware increases timeslice → reach optimal time sheet first;
When initial time sheet equals optimal time sheet: start up system → continuous several times communication contention aware → continuously reduce timeslice do not detected until occur first communication contention aware → detect first communication contention aware increase timeslice → again reach optimal time sheet;
When initial time sheet is less than optimal time sheet: start up system → detect communication contention aware → increase timeslice is not continuously until communication contention aware → reach optimal time sheet detected first.
3. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 1, it is characterized in that: the judgement of timeslice communication contention aware is obtained by the analysis of the next equipment return data string, be specially two kinds of situations: one is at any time in sheet, to receive and after rejecting the correct protocol frame parsed, the remaining incomplete data string starting with frame head code or terminate with postamble code; And for the conflict that same secondary data string is truncated, an incomplete data string starting with frame head code and terminate with postamble code can be produced simultaneously, if these two incomplete data strings can merge into a complete protocol frame, be then judged as communication contention aware; Two is receive in the timeslice distributing to certain the next equipment and parse the correct protocol frame of other the next equipment passback, be then judged as communication contention aware.
4. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 1, it is characterized in that: the judgement of timeslice waste obtains by whether there is communication contention aware, be specially: if produce communication contention aware at once after attempting reducing its timeslice, non-time of origin sheet waste, automatically restores to optimal time sheet; If communication contention aware do not detected after trial reduces timeslice, be then judged to be that life period is wasted.
5. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 1, is characterized in that: host computer and the data transmission procedure of shuttle in its timeslice are: host computer is to this shuttle transmitting time sheet distribution instruction or other action command; If what this shuttle received is timeslice distribution instruction, means that the opportunity that this shuttle carries out communicating to host computer arrives, then push out the Frame existed in transmit queue to shuttle; If what this shuttle received is certain action command, means that the opportunity that this shuttle carries out communicating to host computer arrives equally, not only will push out to shuttle the Frame existed in transmit queue, then also will perform the action command received.
6. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 5, it is characterized in that: the Frame existed in shuttle transmit queue comprises action and completes information, shuttle state, operational parameter value, shuttle in time stored in transmit queue, can send to host computer when generating these information at any time when timeslice takes turns to oneself again.
7. the method for wireless communication networking of multiple stage shuttle cooperative operation system according to claim 1, it is characterized in that: the process that shuttle identification receives data is, in the software of shuttle next bit computer, the device id defined according to communication protocol number identifies and completes the screening to receiving data by wireless communication data parsing module, only leaves the data sending to oneself.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107230026A (en) * | 2017-06-21 | 2017-10-03 | 安徽瑞弋自动化科技有限公司 | A kind of industrial equipment polling control method |
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| CN111653078B (en) * | 2020-05-28 | 2024-02-06 | 北京萨达智能技术有限公司 | Tower crane anti-collision data receiving and transmitting device and method based on wireless data transmission |
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